Robotis Dynamixel RX-64 - Manual (Page 36)

35
DYNAMIXEL RX-64
/*
Print value of Baud Rate.
*/
void PrintBaudrate(void)
{
TxDString("\r\n
RS232:");TxD32Dec((16000000L/8L)/((long)UBRR1L+1
L) ); TxDString(" BPS,");
TxDString(" RS485:");TxD32Dec((16000000L/8L)/((long)UBRR0L+1L) );
TxDString(" BPS");
}
/*Hardware Dependent Item*/
#define TXD1_READY
bit_is_set(UCSR1A,5)
//(UCSR1A_Bit5)
#define TXD1_DATA (UDR1)
#define RXD1_READY bit_is_set(UCSR1A,7)
#define RXD1_DATA (UDR1)
#define TXD0_READY
bit_is_set(UCSR0A,5)
#define TXD0_DATA (UDR0)
#define RXD0_READY bit_is_set(UCSR0A,7)
#define RXD0_DATA (UDR0)
/*
SerialInitialize() set Serial Port to initial state.
Vide Mega128 Data sheet about Setting bit of register.
SerialInitialize() needs port, Baud rate, Interrupt value.
*/
void SerialInitialize(byte bPort, byte bBaudrate, byte bInterrupt)
{
if(bPort == SERIAL_PORT0)
{
UBRR0H = 0; UBRR0L = bBaudrate;
UCSR0A = 0x02; UCSR0B = 0x18;
if(bInterrupt&RX_INTERRUPT) sbi(UCSR0B,7); // RxD interrupt enable
UCSR0C = 0x06; UDR0 = 0xFF;
sbi(UCSR0A,6);//SET_TXD0_FINISH; // Note. set 1, then 0 is read
}
else if(bPort == SERIAL_PORT1)
{
UBRR1H = 0; UBRR1L = bBaudrate;
UCSR1A = 0x02; UCSR1B = 0x18;
if(bInterrupt&RX_INTERRUPT) sbi(UCSR1B,7); // RxD interrupt enable
UCSR1C = 0x06; UDR1 = 0xFF;
sbi(UCSR1A,6);//SET_TXD1_FINISH; // Note. set 1, then 0 is read
}
}
/*
TxD8Hex() print data seperatly.
ex> 0x1a -> '1' 'a'.
*/
void TxD8Hex(byte bSentData)
{
byte bTmp;
bTmp =((byte)(bSentData>>4)&0x0f) + (byte)'0';
if(bTmp > '9') bTmp += 7;
TxD8(bTmp);
bTmp =(byte)(bSentData & 0x0f) + (byte)'0';
if(bTmp > '9') bTmp += 7;
TxD8(bTmp);
}
/*
TxD80() send data to USART 0.
*/
void TxD80(byte bTxdData)
{
while(!TXD0_READY);
TXD0_DATA = bTxdData;
}
/*
TXD81() send data to USART 1.
*/
void TxD81(byte bTxdData)
{
while(!TXD1_READY);
TXD1_DATA = bTxdData;
}
/*
TXD32Dex() change data to decimal number system
*/
void TxD32Dec(long lLong)
{
byte bCount, bPrinted;
long lTmp,lDigit;
bPrinted = 0;
if(lLong < 0)
{
lLong = -lLong;
TxD8('-');
}
lDigit = 1000000000L;
for(bCount = 0; bCount < 9; bCount++)
{
lTmp = (byte)(lLong/lDigit);
if(lTmp)
{
TxD8(((byte)lTmp)+'0');
bPrinted = 1;
}
else if(bPrinted) TxD8(((byte)lTmp)+'0');
lLong -= ((long)lTmp)*lDigit;
lDigit = lDigit/10;
}
lTmp = (byte)(lLong/lDigit);
/*if(lTmp)*/ TxD8(((byte)lTmp)+'0');
}
/*
TxDString() prints data in ACSII code.
*/
void TxDString(byte *bData)
{
while(*bData)
{
TxD8(*bData++);
}
}
/*
RxD81() read data from UART1.
RxD81() return Read data.
*/
byte RxD81(void)
{
while(!RXD1_READY);
return(RXD1_DATA);
}
/*
SIGNAL() UART0 Rx Interrupt - write data to buffer
*/
SIGNAL (SIG_UART0_RECV)
{
gbpRxInterruptBuffer[(gbRxBufferWritePointer++)] = RXD0_DATA;
}